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Cognitive AutonomouS CAtheters Operating in Dynamic Environments

Poorten, EBV; Tran, PT; Devreker, A; Gruijthuijsen, C; Diez, SP; Smoljkic, G; Strbac, V; ... Herijgers, P; + view all (2016) Cognitive AutonomouS CAtheters Operating in Dynamic Environments. Journal of Medical Robotics Research , 1 (3) , Article 1640011. 10.1142/S2424905X16400110. Green open access

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Abstract

Advances in miniaturized surgical instrumentation are key to less demanding and safer medical interventions. In cardiovascular procedures interventionalists turn towards catheter-based interventions, treating patients considered unfit for more invasive approaches. A positive outcome is not guaranteed. The risk for calcium dislodgement, tissue damage or even vessel rupture cannot be eliminated when instruments are maneuvered through fragile and diseased vessels. This paper reports on the progress made in terms of catheter design, vessel reconstruction, catheter shape modeling, surgical skill analysis, decision making and control. These efforts are geared towards the development of the necessary technology to autonomously steer catheters through the vasculature, a target of the EU-funded project Cognitive AutonomouS CAtheters operating in Dynamic Environments (CASCADE). Whereas autonomous placement of an aortic valve implant forms the ultimate and concrete goal, the technology of individual building blocks to reach such ambitious goal is expected to be much sooner impacting and assisting interventionalists in their daily clinical practice.

Type: Article
Title: Cognitive AutonomouS CAtheters Operating in Dynamic Environments
Open access status: An open access version is available from UCL Discovery
DOI: 10.1142/S2424905X16400110
Publisher version: https://doi.org/10.1142/S2424905X16400110
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Robotic catheters, cognitive surgical robotics, fluidic actuation, automatic registration, 3D reconstruction, SCEM, real-time FEM, continuum robot control, teleoperation, skill analysis, machine learning, autonomous catheter control
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10114586
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